Path tracking control of automatic parking for intelligent vehicle based on nonsmooth control strategy

JIANG  Hao-Bin; Li-Chen-Xu; Ma-Shi-Dian; Ding-Shi-Hong; Zhang-Chao

doi:10.3969/j.issn.1671-7775.2017.05.001

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Journal of Jiangsu University(Natural Science Edition) ›› 2017, Vol. 38 ›› Issue (5) : 497-502. DOI: 10.3969/j.issn.1671-7775.2017.05.001

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Path tracking control of automatic parking for intelligent vehicle based on nonsmooth control strategy

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Abstract

Abstract: The low path tracking precision of automatic parking in realtime control was caused by the nonlinear non holonomic constraint characteristics of vehicle, and the number of adjustments in garage was increased with bad vehicle pose. To solve the problems, a control strategy for automatic parking tracking was proposed based on nonsmooth control. The secondorder and the thirdorder limited time tracking equations of subsystem cascade system were deduced by the reducedorder conversion of dynamics tracking error model of vehicle. The path tracking controller with global asymptotic stability characteristics was designed based on the reducedorder equation, and the steering wheel angle of vehicle dynamics model and the vehicle speed were served as inputs to conduct simulation. The results show that compared to traditional approaches, the path tracking control method based on nonsmooth control can achieve global exact tracking reference parking path in limited time with strong antidisturbance and rapid convergence ability.

Key words

automatic parking / path tracking / nonsmooth control / dynamics tracking error model / cascade system

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JIANG Hao-Bin, Li-Chen-Xu, Ma-Shi-Dian, et al. Path tracking control of automatic parking for intelligent vehicle based on nonsmooth control strategy[J]. Journal of Jiangsu University(Natural Science Edition), 2017, 38(5): 497-502 https://doi.org/10.3969/j.issn.1671-7775.2017.05.001

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